Positional Servo Systems (e.g., Servomechanisms) Patents (Class 318/560)
  • Patent number: 10702932
    Abstract: To provide a power tool configured to stably rotate an end tool. The provided power tool includes a brushless motor including a rotor configured to rotate; a rectifier circuit configured to rectify an AC voltage; a smoothing capacitor configured to smooth the AC voltage rectified by the rectifier circuit to a pulsating voltage; an inverter circuit configured to perform switching operations to output the pulsating voltage to the brushless motor; a deceleration mechanism including: a driving portion at a rotor side, a driven portion configured to transmit a rotating force to an end tool side, and an elastic member configured to transmit a rotational force of the driving portion to the driven portion, the deceleration mechanism configured to decelerate a speed of a rotation of the rotor and configured to transmit the rotation to an end tool.
    Type: Grant
    Filed: February 26, 2016
    Date of Patent: July 7, 2020
    Assignee: Koki Holdings Co., Ltd.
    Inventors: Takeru Kumakura, Shinji Kuragano
  • Patent number: 10632615
    Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Dong Liu, Zhenmin Mo, Zhongliang Wang
  • Patent number: 10637719
    Abstract: The present disclosure relates to a bus exception handling method of a robot including a main controller and a plurality of execution nodes electronically coupled to a bus of the robot. The main controller receives status information of an execution node of the robot from the execution node, determines whether the execution node is in an abnormal status based on the status information of the execution node. In response to determining the execution node is in the abnormal status, the main controller determines a degree of abnormity of the execution node, determines an operating instruction corresponding to the degree of abnormity, and sends the operating instruction to the execution node, the execution node executing the operating instruction. The present disclosure further provides a bus exception handling device.
    Type: Grant
    Filed: September 4, 2017
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Hailang Zhou, Musen Zhang
  • Patent number: 10635089
    Abstract: A servo control device controls a combined position of a first servo system and a second servo system having higher response than response of the first servo system. The servo control device includes a first axis target value creation unit and a correction unit. The first axis target value creation unit creates a first axis target value based on a combined command value which is a position command value of the combined position. The correction unit converts the first axis target value into a first axis command value by using a first transfer function. In addition, the correction unit converts the first axis target value by using a second transfer function, and calculates a second axis command value by subtracting the converted first axis target value from the combined command value.
    Type: Grant
    Filed: February 15, 2017
    Date of Patent: April 28, 2020
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kenta Fujii, Hidetoshi Ikeda, Teruaki Fukuoka
  • Patent number: 10627807
    Abstract: A controller of a motor that drives a driven body, the controller includes: a command generating unit that generates a movement command for the motor; an inertia estimating unit that acquires feedback information of the motor and estimates an inertia on the basis of a predetermined estimation equation; a difference computing unit that computes a change in the inertia changed with machining based on the movement command of the command generating unit; and a comparing unit that compares a difference between the estimation results before and after the machining of the driven body estimated by the inertia estimating unit and the change in the inertia computed by the difference computing unit. the estimation equation of the inertia estimating unit is corrected on the basis of a comparison result of the comparing unit so that the difference between the estimation results matches a computation result obtained by the difference computing unit.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: April 21, 2020
    Assignee: FANUC CORPORATION
    Inventors: Kazunori Iijima, Yuusaku Oho
  • Patent number: 10603234
    Abstract: A patient support apparatus includes a frame, wheels, a patient support surface, a motor, a power assist control, a sensor, and a controller. The power assist control detects a force applied to it. The sensor detects an angular orientation of the patient support apparatus with respect to a generally horizontal plane. The controller drives the motor at different levels for a particular force applied to the power assist control depending upon the angular orientation sensed by the sensor. The controller may control the motors such that the patient support apparatus accelerates at substantially the same rate, regardless of the angle of the patient support apparatus. The controller may also limit the driving of the motor to less than a maximum value based upon the angular orientation of the patient support apparatus.
    Type: Grant
    Filed: March 28, 2017
    Date of Patent: March 31, 2020
    Assignee: Stryker Corporation
    Inventors: Thomas Alan Puvogel, Joshua A. Mansfield
  • Patent number: 10591889
    Abstract: The present invention provides a configuration which enables an improvement in the workability of wiring of a sensor in a servo system. An encoder detects the operation of a motor driven by a servo driver, and generates a feedback signal indicating the detected operation. Further, the encoder receives detected signals output from sensors for detecting an object driven by the motor via sensor cables. The encoder outputs the feedback signal and the input detected signals to the outside.
    Type: Grant
    Filed: November 14, 2014
    Date of Patent: March 17, 2020
    Assignee: OMRON Corporation
    Inventor: Takeshi Kiribuchi
  • Patent number: 10579043
    Abstract: To highly accurately predict remaining machining time required for cutting, a controller of a machining time prediction device includes a storage in which a machining program is stored, a simulator that performs a simulation in which a cutting machine cuts a workpiece in accordance with the machining program to generate a control pattern in which control information of a spindle and a holder is recorded, a machining time calculator that generates, based on the control pattern, a machining time table in which remaining machining time for each step of the machining program, a machining time acquirer that acquires a step of the machining program cutting of which is performed by the cutting machine at a current time point and acquires the remaining machining time for the step of the machining program, which has been acquired, from the machining time table, and a display controller that displays the remaining machining time that has been acquired by the machining time acquirer on a display screen.
    Type: Grant
    Filed: March 16, 2017
    Date of Patent: March 3, 2020
    Assignee: Roland DG Corporation
    Inventor: Tetsuya Kanja
  • Patent number: 10571921
    Abstract: According to some embodiments, a system segments a first path trajectory selected from an initial location of the ADV into a number of path segments, where each path segment is represented by a polynomial function. The system selects an objective function in view of the polynomial functions of the path segments for smoothing connections between the path segments. The system defines a set of constraints to the polynomial functions based on adjacent path segments in view of at least a road boundary and an obstacle perceived by the ADV. The system performs a quadratic programming (QP) optimization on the objective function in view of the added constraints, such that an output of the objective function reaches a minimum. The system generates a second path trajectory representing a path trajectory with an optimized objective function based on the QP optimization to control the ADV autonomously.
    Type: Grant
    Filed: September 18, 2017
    Date of Patent: February 25, 2020
    Assignee: BAIDU USA LLC
    Inventors: Haoyang Fan, Liangliang Zhang, Yajia Zhang, Weicheng Zhu, Yifei Jiang, Qi Luo, Jiangtao Hu, Qi Kong
  • Patent number: 10563979
    Abstract: A method of controlling a robot within a volume, the method comprising: receiving a three dimensional model including a model of the robot and a model of the volume in which the robot is configured to move within; defining a plurality of positions within the model of the volume to which the robot is moveable to, the plurality of positions being identified by an operator; receiving scanned three dimensional data of the robot and at least a part of the volume; determining a transformation algorithm using the three dimensional model and the scanned three dimensional data; applying the transformation algorithm to one or more positions of the plurality of positions to provide one or more transformed positions; and controlling movement of the robot using one or more of the transformed positions.
    Type: Grant
    Filed: June 6, 2017
    Date of Patent: February 18, 2020
    Assignee: ROLLS-ROYCE PLC
    Inventor: Neil K. Hastilow
  • Patent number: 10558128
    Abstract: The present invention provides a control device that performs position control of a control target by giving a feedforward manipulated value to the control target, wherein the device obtains, for each of a plurality of positions at which the control target is to be arranged, a measurement result of a first output response of the control target obtained when giving a first manipulated value to the control target, determines a reference value of the first output response, based on the measurement results respectively obtained at the plurality of positions, determines a second manipulated value by arraying a plurality of first manipulated values in time-series based on a relationship between the first manipulated value and the reference value, and sets the feedforward manipulated value based on the second manipulated value.
    Type: Grant
    Filed: April 25, 2019
    Date of Patent: February 11, 2020
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Koji Yoshida, Junichi Motojima, Mitsuhide Nishimura, Yoshihiro Omameuda
  • Patent number: 10556336
    Abstract: Methods and systems for modifying the inertial parameters used in a virtual robot model that simulates the interactions of a real-world robot with an environment to better reflect the actual inertial properties of the real-world robot. In one aspect, a method includes obtaining joint physical parameter measurements for the joints of a real-world robot, determining simulated joint physical parameter values for each of the joint physical parameter measurements, and adjusting an estimate of inertial properties of the real-world robot used by the virtual robot dynamic model to reduce a difference between the simulated joint physical parameter values and the corresponding joint physical parameter measurements.
    Type: Grant
    Filed: January 30, 2017
    Date of Patent: February 11, 2020
    Assignee: X Development LLC
    Inventor: Yunfei Bai
  • Patent number: 10545679
    Abstract: In one embodiment, a method includes determining a size of a file associated with each job in a job queue of files to be migrated to one of a plurality of drives that includes at least one of each of the following: a faster drive and a relatively slower drive. The availability of a faster drive is determined. The file associated with the job in the job queue having a file size larger than a threshold is sent to the faster drive.
    Type: Grant
    Filed: May 1, 2017
    Date of Patent: January 28, 2020
    Assignee: International Business Machines Corporation
    Inventor: Khanh V. Ngo
  • Patent number: 10520728
    Abstract: A deployment system for a device of a vehicle is described. The deployment system includes a non-transitory computer readable medium to store instructions of the deployment system and a processor configured to execute the instructions. The processor is configured to deploy the device using a parameter, determine a Mean Square Error (MSE), and run a Statistical Process Control (SPC) test on the MSE. The processor is further configured to determine that no special event is present and process a new parameter using the parameter and the SPC test results. An evolutionary operation (EVOP) algorithm is also used to calculate the new parameter.
    Type: Grant
    Filed: October 17, 2017
    Date of Patent: December 31, 2019
    Assignee: Visteon Global Technologies, Inc.
    Inventor: Eric François Fèvre
  • Patent number: 10520059
    Abstract: A vibration isolator includes: a vibration isolator moving part that suppresses vibration caused by operation of a drive unit moving part; a vibration isolating speed generation unit that generates a vibration isolating command speed on the basis of a target position of the drive unit moving part; a return speed generation unit that generates a return command speed for returning the vibration isolator moving part to an original position; a control speed generation unit that generates a control command speed by adding the vibration isolating command speed generated by the vibration isolating speed generation unit and the return command speed generated by the return speed generation unit; and a vibration isolation control unit that controls the vibration isolator moving part on the basis of the control command speed generated by the control speed generation unit.
    Type: Grant
    Filed: April 25, 2019
    Date of Patent: December 31, 2019
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Makoto Higashino, Shinya Nagata
  • Patent number: 10513035
    Abstract: A robot-defective-part diagnostic device includes a position measuring unit with a target and a sensor for capturing an image of the target. One of the target and the sensor is attached to the robot and the other is disposed outside the robot. The position measuring unit measures the positions of the target with the sensor for postures of the robot. The device also includes an error calculation unit that calculates the positioning error based on the measured positions of the target. A parameter calculation unit that calculates the mechanical parameters of the respective operation shafts based on the measured positions of the target for the respective postures when the calculated positioning error is larger than a predetermined threshold, and a defective-part identifying unit that identifies the operation shaft where the difference between the calculated mechanical parameters and preset mechanical parameters for achieving the postures is the largest.
    Type: Grant
    Filed: June 28, 2017
    Date of Patent: December 24, 2019
    Assignee: FANUC CORPORATION
    Inventor: Kyouhei Kokubo
  • Patent number: 10513071
    Abstract: A pressure controller for an injection molding machine capable of reducing variations of pressure in a mold in molding cycles and providing molded articles of stable quality is provided. The pressure controller includes an in-mold pressure estimation unit for estimating a pressure in the mold based on an injection pressure detected with an injection pressure detection unit, and an amount of movement of a screw detected with a screw movement amount detection unit, and an in-mold pressure control unit for controlling such that the estimated in-mold pressure becomes a set in-mold pressure after the pressure control is performed in a dwell step with an injection pressure control unit.
    Type: Grant
    Filed: March 3, 2016
    Date of Patent: December 24, 2019
    Assignee: FANUC CORPORATION
    Inventor: Junpei Maruyama
  • Patent number: 10479341
    Abstract: This electric brake device includes: a brake rotor; a friction member; friction member operator configured to bring the friction member into contact with the brake rotor; an electric motor configured to drive the friction member operator; and a controller configured to control a braking force by means of the electric motor. The controller includes: heat balance degree estimator configured to estimate a balance degree among heat generation amounts of a plurality of exciting coils in the electric motor; and heat load balancing section configured to decrease a heat generation amount of a specific exciting coil when the heat balance degree estimator has estimated that the heat generation amount of the specific exciting coil among the plurality of exciting coils is larger than heat generation amounts of the other exciting coils.
    Type: Grant
    Filed: November 20, 2017
    Date of Patent: November 19, 2019
    Assignee: NTN CORPORATION
    Inventor: Yui Masuda
  • Patent number: 10456911
    Abstract: After a component picked up by a suction nozzle is moved in an XY direction towards target XY coordinates, a waveform of a vibration (vibration waveform) in the Y direction arising in the component after the component has arrived near the target XY coordinates is measured, and control is performed such that the component arrives at a target Z coordinate (value zero) when a displacement y of the component crosses a node of the measured vibration waveform.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: October 29, 2019
    Assignee: FUJI CORPORATION
    Inventors: Ryo Nagata, Masatoshi Fujita
  • Patent number: 10459422
    Abstract: A servomotor control device includes a connection mechanism configured to connect a servomotor and a driven body, and transmit power of the servomotor to the driven body, a position command generation unit configured to generate a position command value for the driven body, a motor control unit configured to control the servomotor using the position command value, a force estimation part configured to estimate drive force acting on the driven body at a connecting part with the connection mechanism, a switching part configured to switch between a first force estimated value estimated by the force estimation part and a second force estimated value that is a fixed value, and a compensation amount generation part configured to generate a compensation amount for compensating the position command value generated by the position command generation part, based on the first or second force estimated value that was switched to by the switching part.
    Type: Grant
    Filed: September 29, 2017
    Date of Patent: October 29, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10444728
    Abstract: A numerical controller controls a machine tool that has a plurality of axes based on a program command. The numerical controller analyzes the program command. When the program command contains a positioning command, the numerical controller generates a correction path bent in a direction going away from the workpiece with respect to a straight-line path toward a commanded position from a current position of the tool that machines the workpiece, and controls respective axes of the machine tool based on the generated correction path.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: October 15, 2019
    Assignee: Fanuc Corporation
    Inventors: Motohiko Ito, Hiroshi Minami
  • Patent number: 10434695
    Abstract: A method is described for operating an injection moulding machine, which has one or more movable machine parts which can be moved by suitable drives along specifiable travelling distances. Movement of a movable machine part is repeated cyclically. In order to reduce the movement times of the movable machine parts to a minimum, provision is made for one or more of the movable machine parts to successively reduce the power reserves of one or more of the drives associated with a movable machine part, until a specifiable minimum of power reserve is reached, wherein the minimum can be zero. In each cycle, the power reserve of the drive or drives is determined and is successively reduced, in particular from cycle to cycle. A movable platen, an ejector, a core puller, a plasticizing screw and/or an injection piston can be provided as movable machine part.
    Type: Grant
    Filed: June 19, 2015
    Date of Patent: October 8, 2019
    Assignee: Netstal-Maschinen AG
    Inventors: Eric Schmidheiny, Manuel Hausammann
  • Patent number: 10414041
    Abstract: A platform for a parallel robot, for acting on an object, including: at least two frames comprising at least two pairs of swivels; at least two bridges that are connected to each of the frames respectively by four hinges which are substantially parallel to an axial direction (V); and a base to be connected to an effector, which is suitable for acting on the object. The base is connected to each bridge respectively by at least one hinge which is oriented along a connection axis which is substantially parallel to the axial direction.
    Type: Grant
    Filed: May 19, 2015
    Date of Patent: September 17, 2019
    Assignees: UNIVERSITÉ DE MONTPELLIER, CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
    Inventors: Sébastien Krut, Olivier Company, Francois Pierrot
  • Patent number: 10409259
    Abstract: A servomotor control device includes a servomotor, driven body, connection mechanism, first position detection section, second position detection section, and motor control unit. The motor control unit has: a dual position control section that performs semi-closed FB control based on a high-frequency component of a first deviation between a position command value and the position of the servomotor detected by the first position detection section, and full-closed FB control based on a low-frequency component of a second deviation between the position command value and the position of the driven body detected by the second position detection section; an acquisition section that acquires a magnitude of rigidity of the connection mechanism; and a varying section that varies a proportion of the semi-closed FB control to full-closed FB control in the dual position control section, in response to the acquired magnitude of rigidity of the connection mechanism.
    Type: Grant
    Filed: June 4, 2018
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10406677
    Abstract: In this parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms such that the posture of the distal end side link hub can be altered relative to the proximal end side link hub. Each link mechanism includes proximal side and distal side end link members and an intermediate link member. Each end link member includes: a curved member curved by an arbitrary angle; and a rotation shaft support member fixed to one end of or each of opposite ends of the curved member, and configured to support a rotation shaft rotatably coupled directly or via a bearing to the intermediate link member or the link hub.
    Type: Grant
    Filed: September 29, 2016
    Date of Patent: September 10, 2019
    Assignee: NTN CORPORATION
    Inventors: Hiroshi Isobe, Seigo Sakata, Naoya Konagai, Hiroyuki Yamada
  • Patent number: 10399805
    Abstract: A sheet conveyance apparatus includes a conveyance portion to convey a sheet in a sheet conveyance direction, and a moving member having a main body portion, a contact portion configured to come into contact with the sheet conveyed by the conveyance portion, and a shaft portion provided on the main body portion, with the moving member configured to be moved due to the contact portion contacting the sheet. A first support portion pivotably supports a first part of the shaft portion such that the moving member is configured to pivot around the shaft, and a second support portion pivotably and slidably supports a second part of the shaft portion such that the second part of the shaft portion swings around the first part. In addition, a biasing member biases the moving member, and a sensor transmits a signal according to a position of the moving member.
    Type: Grant
    Filed: January 7, 2016
    Date of Patent: September 3, 2019
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Sachiyori Shiina, Takashi Yano, Kazuhide Okuno, Yohei Suzuki
  • Patent number: 10394272
    Abstract: A joystick including a main housing with a first control surface and a second control surface. A ball rotationally engages the first control surface. A shaft has a first end that releasably engages the ball. A shoe rotationally engages the second control surface. A main spring has a first end for pressing the shoe against the second control surface. A center lock housing engages a second end of the main spring and houses a slider and a lock spring. The slider selectively permits and prevents movement of the shoe along the shaft. The lock spring presses the slider into a desired default position. A knob releasably engages the second end of the shaft. A boot covers portions of the joystick.
    Type: Grant
    Filed: June 27, 2018
    Date of Patent: August 27, 2019
    Assignee: Sure Grip Controls, Inc.
    Inventors: Stephen L. Leckenby, Brent L. Kornelson
  • Patent number: 10300572
    Abstract: In a workpiece loader device, a loader mechanism is configured to move a loader hand directly held by operator's hands to a desired position. A loader mechanism control part stores position coordinates as workpiece receiving position coordinates when the loader hand is moved by operator's hands to the workpiece receiving position and a completion of moving is confirmed.
    Type: Grant
    Filed: March 7, 2016
    Date of Patent: May 28, 2019
    Assignee: DMG MORI CO., LTD.
    Inventors: Hiroshi Yasuda, Yoshinobu Okuyama, Takayuki Higuchi
  • Patent number: 10303152
    Abstract: A motor controller which controls a servo motor for driving a machine, includes: a speed command unit which commands the speed of the machine; a speed detection unit which detects the speed of the servo motor; and a speed control unit which produces a torque command based on a speed command and a motor speed detected so as to control the speed of the servo motor, where the speed control unit includes a filter which approximates the inverse characteristic of a transmission characteristic from the servo motor to the machine, the filter has a transmission characteristic F(s) based on a frequency ?, a vibration damping coefficient ? and a cutoff frequency ?adj which are adjustment parameters and the frequency ? is adjusted so as to be equal to or more than an antiresonant frequency ?0 of the machine but less than a resonant frequency ?p.
    Type: Grant
    Filed: June 12, 2018
    Date of Patent: May 28, 2019
    Assignee: Fanuc Corporation
    Inventors: Tsutomu Nakamura, Satoshi Ikai
  • Patent number: 10234831
    Abstract: A control command resolution adjustment method and a command generation device are disclosed in present invention. The control command resolution adjustment method is used to adjust a control command form the command generation device. A calculation frequency value via the command generation device is analyzed. The control command is received and a transform frequency value via the control command is analyzed. A first resolution value is calculated from the calculation frequency value and the transform frequency value. The first resolution value is distinguished greater than or equal to a minimum resolution value. When the first resolution value less than the minimum resolution value, an added calculation frequency value is calculated from the calculation frequency value and a frequency added value. A second resolution value is calculated from the added calculation frequency value and the transform frequency value.
    Type: Grant
    Filed: August 29, 2017
    Date of Patent: March 19, 2019
    Assignee: TECO ELECTRIC & MACHINERY CO., LTD.
    Inventors: Chia-Jen Lin, Feng-Chieh Lin
  • Patent number: 10234842
    Abstract: A numerical controller includes a path conversion unit for obtaining a curved correction path passing through three points corresponding to a start point and an end point of a third block, and a shift point obtained by shifting an intermediate point of a command path based on the third block in an inward direction of a corner path within a limit of a preset allowable error amount when the corner path is formed by a series of blocks and a tangential direction of the corner path is continuous, and generating a path obtained by replacing the command path of the third block included in the corner path by the correction path, the third block commanding curvilinear movement at a larger curvature than a first curvature and a second curvature being interposed between the first block.
    Type: Grant
    Filed: February 27, 2017
    Date of Patent: March 19, 2019
    Assignee: Fanuc Corporation
    Inventor: Naoya Koide
  • Patent number: 10232480
    Abstract: A controller of a machine tool capable of suppressing heat generation and realizing a stable cutting operation during deep cutting is provided. A numerical controller for controlling a machine tool including a spindle motor formed of an induction motor and a feed axis driving motor includes: a magnetic flux amount acquisition means that acquires a present magnetic flux amount of the spindle motor; and a speed change means that changes a speed of the feed axis driving motor on the basis of the magnetic flux amount.
    Type: Grant
    Filed: October 25, 2017
    Date of Patent: March 19, 2019
    Assignee: FANUC CORPORATION
    Inventors: Yuuki Morita, Tadashi Okita
  • Patent number: 10219930
    Abstract: Systems and methods for tracking unintentional high amplitude muscle movements of a user and stabilizing a handheld tool are described. The method may include detecting motion of a housing of the handheld tool when manipulated by a user while the user is performing a task with a user-assistive device attached to an attachment arm of the handheld tool, and storing the detected motion in a memory of the handheld tool as motion data. Furthermore, the method may include controlling a first motion generating mechanism and a second motion generating mechanism by generating a first motion signal and a second motion signal that respectively drive the first motion generating mechanism in a first degree of freedom and the second motion generating mechanism in a second degree of freedom to stabilize motion of the user-assistive device attached to the attachment arm of the handheld tool.
    Type: Grant
    Filed: July 14, 2016
    Date of Patent: March 5, 2019
    Assignee: Verily Life Sciences LLC
    Inventors: Anupam J. Pathak, Michael Allen
  • Patent number: 10213920
    Abstract: A method for monitoring a payload-handling robot assembly having at least one robot includes identifying a robot-handled payload arrangement on the basis of a current position of the robot assembly relative to a specified change position of the robot assembly. In another aspect, a robot assembly includes at least one robot, a monitoring apparatus configured to determine a current position of the robot assembly and to identify a robot-handled payload arrangement on the basis of the current position of the robot assembly relative to a specified change position of the robot assembly, and a payload receptacle for receiving a plurality of different payloads. The robot is configured for handling the plurality of payloads in an alternating manner.
    Type: Grant
    Filed: July 23, 2014
    Date of Patent: February 26, 2019
    Assignee: KUKA Deutschland GmbH
    Inventors: Torsten Geiler, Florian Steigenberger, Frank Roland, Uwe Bonin, Richard Rudolf
  • Patent number: 10206752
    Abstract: A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis.
    Type: Grant
    Filed: May 13, 2016
    Date of Patent: February 19, 2019
    Assignee: CMR SURGICAL LIMITED
    Inventors: Luke David Ronald Hares, Keith Marshall
  • Patent number: 10197219
    Abstract: A secondary light curtain for preventing injury to an operator of a press brake during formation of a second flange on a workpiece and a method for using the same. The secondary light curtain detects intrusion by the operator into a crush zone, i.e. the area, between the ram and the leading edge of a prior formed flange. In order to provide for ready adjustment of the height of the secondary light curtain, a mounting bracket having a longitudinal mounting slot, and a cooperating secondary angle bracket are provided. The mounting bracket of the present invention allows the secondary light curtain light assemblies to be mounted directly on the front or side of the ram.
    Type: Grant
    Filed: August 4, 2017
    Date of Patent: February 5, 2019
    Inventor: Jason Boyer
  • Patent number: 10189182
    Abstract: A processing system includes a processing apparatus having functional units including a holding unit that holds a workpiece by a holding surface, a processing unit that processes the workpiece held by the holding unit, and a feed unit that moves the holding unit and the processing unit relatively. The processing system further includes a detecting unit that is provided for part or all of the functional units and detects any of vibration, current, voltage, load, speed, torque, pressure, temperature, flow rate, change in a taken image, and the thickness of the workpiece, and a data accumulating unit that accumulates information included in a signal output from the detecting unit as data.
    Type: Grant
    Filed: May 25, 2016
    Date of Patent: January 29, 2019
    Assignee: DISCO Corporation
    Inventors: Masahiro Takekawa, Tatsuhiko Mori, Hirotaka Ochiai, Frank Wei
  • Patent number: 10185405
    Abstract: There is provided an information processing apparatus including an acquisition unit acquiring data on at least one of an acceleration or an angular velocity of a controller operated by a user, and a determination unit determining at least one of a velocity of the controller or a trajectory of the controller based on the acquired data on the at least one of the acceleration or the angular velocity.
    Type: Grant
    Filed: July 19, 2012
    Date of Patent: January 22, 2019
    Assignee: Sony Corporation
    Inventors: Shinobu Kuriya, Tetsuro Goto, Masatoshi Ueno, Kenichi Kabasawa, Tatsuya Suzuki, Tsubasa Tsukahara, Toshiyuki Nakagawa, Hideo Kawabe
  • Patent number: 10175676
    Abstract: A servomotor controller includes a connection mechanism configured to transfer power of a servomotor to a driven body; a motor control unit configured to control the servomotor using a position command value; a first force estimation unit configured to estimate a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism; a second force estimation unit configured to estimate a second force estimated value serving as a fixed value; a selection unit configured to compare an absolute value of the first force estimated value and an absolute value of the second force estimated value to output the first or second force estimated value having the larger absolute value; and a compensation amount generation unit configured to generate a compensation amount for compensating the position command value on the basis of the first or second force estimated value.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: January 8, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10125699
    Abstract: A method, using multiple position sensors, for determining a characteristic of the actuator or a system, wherein the characteristic is causing or is indicative of the cause of the change in position of the actuator. One characteristic may be the lost motion of the actuator or system. Lost motion is the lag between the motion of a controlled device and that of an electrical drive device due to yielding or looseness. The lost motion of an actuator may increase as components wear and may eventually degrade the function or cause failure of the actuator and/or system.
    Type: Grant
    Filed: November 3, 2016
    Date of Patent: November 13, 2018
    Assignee: Borgwarner Inc.
    Inventors: Brian Wightman, Ryan Howell
  • Patent number: 10111641
    Abstract: There are provided a radiographic imaging apparatus that is movable in response to a relatively small application of force and a method for controlling the same. A radiographic imaging apparatus includes a radiographic image generator; a motor configured to move the radiographic image generator; and a controller configured to calculate a disturbance applied to the radiographic image generator and to drive the motor based on the disturbance.
    Type: Grant
    Filed: May 4, 2015
    Date of Patent: October 30, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventor: Ho-Seong Kwak
  • Patent number: 10073908
    Abstract: A method, apparatus and computer program product for Functional Space-Time Trajectory Clustering. The method comprises receiving collections of data structures comprising location and time descriptors. The method further comprises estimating functional curves from the collections of data structures. The method further comprises reducing dimensions of the functional curves; and clustering the functional curves into clusters.
    Type: Grant
    Filed: June 15, 2015
    Date of Patent: September 11, 2018
    Assignee: International Business Machines Corporation
    Inventors: Peter Bak, Yuval Nardi, Eli Packer
  • Patent number: 10061294
    Abstract: A numerical controller sets a parameter actually used for servo control on the basis of command data generated by analyzing a machining program. Based on the set parameter and a predefined allowable position deviation amount, a feed speed which is given by a position deviation not exceeding the predefined allowable position deviation amount is calculated. Then, when a feed speed commanded by the command data is larger than the calculated feed speed, the feed speed commanded by the command data is clamped at the calculated feed speed.
    Type: Grant
    Filed: February 9, 2016
    Date of Patent: August 28, 2018
    Assignee: FANUC Corporation
    Inventor: Takenori Ono
  • Patent number: 10035504
    Abstract: A filter processor of a control apparatus for a rotary electric machine filters target torque for the rotary electric machine to suppress a vibrational frequency component of a drivetrain using a filter having a frequency transfer characteristic. A controller performs drive control of the rotary electric machine according to the filtered target torque. A parameter calculator calculates, according to a running condition of the vehicle, a parameter associated with a request value for responsivity of output torque of the rotary electric machine with respect to the target torque. A variable setter variably sets the frequency transfer characteristic of the filter to decrease a degree of attenuation of the vibrational frequency component with an increase of the request value for the responsivity of the output torque.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: July 31, 2018
    Assignees: DENSO CORPORATION, NISSAN MOTOR CO., LTD.
    Inventors: Syo Hashimoto, Shuichi Orita
  • Patent number: 10033319
    Abstract: An improved system for tuning a motor controller is disclosed. The controller gains are initially set based on the measured frequency response for the controlled system. A desired level of performance is defined by setting a desired phase margin and a desired gain margin to be observed in the frequency response. An improved method of determining the frequency response provides for a reduced computational intensity. The initial tuning routine uses the frequency response to set not only controller gains, but also settings for filters in the control module. Having obtained the desired level of performance from the initial tuning, the motor drive executes an adaptive tuning routine while controlling the motor. The adaptive tuning routine tracks changes in the operating performance and adjusts the filter settings or the controller gains to return operation to within the desired level of performance while the motor continues to operate.
    Type: Grant
    Filed: September 1, 2015
    Date of Patent: July 24, 2018
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Aderiano M. da Silva, Brian Fast, Robert J. Miklosovic, Michelle E. Holt
  • Patent number: 10031506
    Abstract: A motion control method includes: (a) obtaining a current position and a current velocity of a control object at a current time; (b) obtaining a current acceleration based on the current position and the current velocity, wherein the current acceleration has a positive correlation with a difference between the current position and a target position as well as a negative correlation with the current velocity; (c) controlling a motor for driving the control object utilizing the current acceleration; and (d) iteratively performing the steps (a)-(c) until the control object reaches the target position. A motion trajectory planning method and a motion control device are further provided. Through the above-mentioned way, the present disclosure could realize the smooth acceleration and smooth deceleration of the motor. As a result, smooth motion trajectory, less vibration, and stable motor with less overshoot could be achieved.
    Type: Grant
    Filed: January 18, 2017
    Date of Patent: July 24, 2018
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Wenhua Fan, Lifu Zhang, Xi Bai, Youjun Xiong
  • Patent number: 10029324
    Abstract: In wire electric discharge machining performed with a wire electrode moved relative to a workpiece based on a desired shape, a command speed is controlled so that the discharge densities per unit distance in circular-arc and straight portions of the desired shape are equal, in consideration of the difference in arc length between a circular-arc portion in a desired shape and the corresponding portion of a machining path, whereby the shape accuracy of the circular-arc portion is improved.
    Type: Grant
    Filed: February 25, 2015
    Date of Patent: July 24, 2018
    Assignee: FANUC CORPORATION
    Inventors: Yan Niu, Koji Suzuki
  • Patent number: 10028881
    Abstract: A swinging leg pendulum movement aid for walking including a pair of assisting units for a left leg and a right leg each having a drive source for applying a pulling force to an auxiliary force transmission part, a joint angle sensor for detecting a joint angle of user's hip joints, and a control member for driving the drive sources of the respective assisting units corresponding to changes in the joint angle and applying an assistance force in a forward swinging direction to the swinging leg that kicked off a ground so as to aid a pendulum movement of the swinging leg.
    Type: Grant
    Filed: February 18, 2014
    Date of Patent: July 24, 2018
    Assignees: KYUSHU UNIVERSITY, NATIONAL UNIVERSITY CORPORATION, SUMITOMO RIKO COMPANY LIMITED
    Inventors: Motoji Yamamoto, Shin-ichiro Takasugi, Masanori Sato, Takahiro Komatsu, Kazunobu Hashimoto
  • Patent number: 10031507
    Abstract: A servo control device including a servo control unit that calculates a drive command that causes a feedback position from a motor to be driven to follow a command position, to drive the motor according to the drive command, a moving-state determination unit that determines a speed of the motor is by simulating a response of the motor, and outputs a determination result as a moving state, a correction-amount selection unit that selects a correction amount according to a change pattern of the moving state at a timing when the determined moving state changes, and an addition unit that adds the correction amount output from the correction-amount selection unit to the drive command calculated by the servo control unit to generate a corrected drive command, and sets the corrected drive command as a drive command to the motor instead of the drive command calculated by the servo control unit.
    Type: Grant
    Filed: October 11, 2013
    Date of Patent: July 24, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kotaro Nagaoka, Tomoya Fujita
  • Patent number: 10016331
    Abstract: The subject matter of the invention is an articulation (1) with controllable stiffness and a force-measuring system, comprising a first device (20) that comprises a frame (4) having a curved face and connected to a first motor element (2), the first device (20) regulating the position of the articulation (1), and a second device (22) that regulates the stiffness of the articulation (1) and comprises a thrust element (15), the movement (D) of which determines the pre-compression of a resistive element (11) and thus the stiffness of the articulation (1); the first motor element (2) causes the frame (4) to rotate such that a wheel (8) of the second device (22) rolls on the curved face of the frame (4), causing the resistive element (11) to be compressed (C) via a transmission rod (7) associated with the wheel (8) and with the resistive element (11).
    Type: Grant
    Filed: May 23, 2014
    Date of Patent: July 10, 2018
    Assignees: CONSEJO SUPERIOR DE INVESTIGACIONES CIENTIFICAS (CSIC), UNIVERSIDAD POLITECNICA DE MADRID
    Inventors: Manuel Javier Cestari Soto, Daniel Sanz Merodio, Elena Garcia Armada